OpenRaiser/Intern-Atlas huggingface dataset:
On the Construction of Safe Controllable Regions for Affine Systems with Applications to Robotics
Venue: arXiv cs.SY 2016
Year: 2016

This paper studies the problem of constructing in-block controllable (IBC) regions for affine systems. That is, we are concerned with constructing regions in the state space of affine systems such that all the states in the interior of the region are mutually accessible through the region's interior by applying uniformly bounded inputs. We first show that existing results for checking in-block controllability on given polytopic regions cannot be easily extended to address the question of constructing IBC regions. We then explore the geometry of the problem to provide a computationally efficient algorithm for constructing IBC regions. We also prove the soundness of the algorithm. We then use the proposed algorithm to construct safe speed profiles for different robotic systems, including fully-actuated robots, ground robots modeled as unicycles with acceleration limits, and unmanned aerial vehicles (UAVs). Finally, we present several experimental results on UAVs to verify the effectiveness of the proposed algorithm. For instance, we use the proposed algorithm for real-time collision avoidance for UAVs.
A Study of Factuality, Objectivity and Relevance: Three Desiderata in Large-Scale Information Retrieval?
Venue: arXiv cs.IR 2016
Year: 2016

Much of the information processed by Information Retrieval (IR) systems is unreliable, biased, and generally untrustworthy [1], [2], [3]. Yet, factuality & objectivity detection is not a standard component of IR systems, even though it has been possible in Natural Language Processing (NLP) in the last decade. Motivated by this, we ask if and how factuality & objectivity detection may benefit IR. We answer this in two parts. First, we use state-of-the-art NLP to compute the probability of document factuality & objectivity in two TREC collections, and analyse its relation to document relevance. We find that factuality is strongly and positively correlated to document relevance, but objectivity is not. Second, we study the impact of factuality & objectivity to retrieval effectiveness by treating them as query independent features that we combine with a competitive language modelling baseline. Experiments with 450 TREC queries show that factuality improves precision >10% over strong baselines, especially for uncurated data used in web search; objectivity gives mixed results. An overall clear trend is that document factuality & objectivity is much more beneficial to IR when searching uncurated (e.g. web) documents vs. curated (e.g. state documentation and newswire articles). To our knowledge, this is the first study of factuality & objectivity for back-end IR, contributing novel findings about the relation between relevance and factuality/objectivity, and statistically significant gains to retrieval effectiveness in the competitive web search task.
Divide-and-Conquer based Ensemble to Spot Emotions in Speech using MFCC and Random Forest
Venue: arXiv cs.SD 2016
Year: 2016

Besides spoken words, speech signals also carry information about speaker gender, age, and emotional state which can be used in a variety of speech analysis applications. In this paper, a divide and conquer strategy for ensemble classification has been proposed to recognize emotions in speech. Intrinsic hierarchy in emotions has been utilized to construct an emotions tree, which assisted in breaking down the emotion recognition task into smaller sub tasks. The proposed framework generates predictions in three phases. Firstly, emotions are detected in the input speech signal by classifying it as neutral or emotional. If the speech is classified as emotional, then in the second phase, it is further classified into positive and negative classes. Finally, individual positive or negative emotions are identified based on the outcomes of the previous stages. Several experiments have been performed on a widely used benchmark dataset. The proposed method was able to achieve improved recognition rates as compared to several other approaches.
Learning Optimal Parameters for Multi-target Tracking with Contextual Interactions
Venue: arXiv cs.CV 2016
Year: 2016

We describe an end-to-end framework for learning parameters of min-cost flow multi-target tracking problem with quadratic trajectory interactions including suppression of overlapping tracks and contextual cues about cooccurrence of different objects. Our approach utilizes structured prediction with a tracking-specific loss function to learn the complete set of model parameters. In this learning framework, we evaluate two different approaches to finding an optimal set of tracks under a quadratic model objective, one based on an LP relaxation and the other based on novel greedy variants of dynamic programming that handle pairwise interactions. We find the greedy algorithms achieve almost equivalent accuracy to the LP relaxation while being up to 10x faster than a commercial LP solver. We evaluate trained models on three challenging benchmarks. Surprisingly, we find that with proper parameter learning, our simple data association model without explicit appearance/motion reasoning is able to achieve comparable or better accuracy than many state-of-the-art methods that use far more complex motion features or appearance affinity metric learning.
Decision problems on unary probabilistic and quantum automata
Venue: arXiv cs.FL 2016
Year: 2016

It is well known that the emptiness problem for binary probabilistic automata and so for quantum automata is undecidable. We present the current status of the emptiness problems for unary probabilistic and quantum automata with connections with Skolem's and positivity problems. We also introduce the concept of linear recurrence automata in order to show the connection naturally. Then, we also give possible generalizations of linear recurrence relations and automata on vectors.
Convex Histogram-Based Joint Image Segmentation with Regularized Optimal Transport Cost
Venue: arXiv cs.CV 2016
Year: 2016

We investigate in this work a versatile convex framework for multiple image segmentation, relying on the regularized optimal mass transport theory. In this setting, several transport cost functions are considered and used to match statistical distributions of features. In practice, global multidimensional histograms are estimated from the segmented image regions, and are compared to referring models that are either fixed histograms given a priori, or directly inferred in the non-supervised case. The different convex problems studied are solved efficiently using primal-dual algorithms. The proposed approach is generic and enables multi-phase segmentation as well as co-segmentation of multiple images.
Experimental Characterization of In Vivo Wireless Communication Channels
Venue: arXiv cs.OH 2016
Year: 2016

In vivo wireless medical devices have a critical role in healthcare technologies due to their continuous health monitoring and noninvasive surgery capabilities. In order to fully exploit the potential of such devices, it is necessary to characterize the in vivo wireless communication channel which will help to build reliable and high-performance communication systems. This paper presents preliminary results of experimental characterization for this fascinating communications medium on a human cadaver and compares the results with numerical studies.
Trump vs. Hillary Analyzing Viral Tweets during US Presidential Elections 2016
Venue: arXiv cs.SI 2016
Year: 2016

In this paper, we provide a quantitative and qualitative analyses of the viral tweets related to the US presidential election. In our study, we focus on analyzing the most retweeted 50 tweets for everyday during September and October 2016. The resulting set is composed 3,050 viral tweets, and they were retweeted over 20.5 million times. We manually annotated the tweets as favorable of Trump, Clinton, or neither. Our quantitative study shows that tweets favoring Trump were usually retweeted more than pro-Clinton tweets, with the exception of a few days in September and two days in October, especially the day following the first presidential debate and following the release of the Access Hollywood tape. On two days in October 2016, pro-Trump tweet volume accounted for than 90\% of the total tweet volume.
The Gun Violence Database
Venue: arXiv cs.CY 2016
Year: 2016

We describe the Gun Violence Database (GVDB), a large and growing database of gun violence incidents in the United States. The GVDB is built from the detailed information found in local news reports about gun violence, and is constructed via a large-scale crowdsourced annotation effort through our web site, http://gun-violence.org/. We argue that centralized and publicly available data about gun violence can facilitate scientific, fact-based discussion about a topic that is often dominated by politics and emotion. We describe our efforts to automate the construction of the database using state-of-the-art natural language processing (NLP) technologies, eventually enabling a fully-automated, highly-scalable resource for research on this important public health problem.
Exploiting Depth from Single Monocular Images for Object Detection and Semantic Segmentation
Venue: arXiv cs.CV 2016
Year: 2016

Augmenting RGB data with measured depth has been shown to improve the performance of a range of tasks in computer vision including object detection and semantic segmentation. Although depth sensors such as the Microsoft Kinect have facilitated easy acquisition of such depth information, the vast majority of images used in vision tasks do not contain depth information. In this paper, we show that augmenting RGB images with estimated depth can also improve the accuracy of both object detection and semantic segmentation. Specifically, we first exploit the recent success of depth estimation from monocular images and learn a deep depth estimation model. Then we learn deep depth features from the estimated depth and combine with RGB features for object detection and semantic segmentation. Additionally, we propose an RGB-D semantic segmentation method which applies a multi-task training scheme: semantic label prediction and depth value regression. We test our methods on several datasets and demonstrate that incorporating information from estimated depth improves the performance of object detection and semantic segmentation remarkably.
A Methodology for Customizing Clinical Tests for Esophageal Cancer based on Patient Preferences
Venue: arXiv cs.LG 2016
Year: 2016

Tests for Esophageal cancer can be expensive, uncomfortable and can have side effects. For many patients, we can predict non-existence of disease with 100% certainty, just using demographics, lifestyle, and medical history information. Our objective is to devise a general methodology for customizing tests using user preferences so that expensive or uncomfortable tests can be avoided. We propose to use classifiers trained from electronic health records (EHR) for selection of tests. The key idea is to design classifiers with 100% false normal rates, possibly at the cost higher false abnormals. We compare Naive Bayes classification (NB), Random Forests (RF), Support Vector Machines (SVM) and Logistic Regression (LR), and find kernel Logistic regression to be most suitable for the task. We propose an algorithm for finding the best probability threshold for kernel LR, based on test set accuracy. Using the proposed algorithm, we describe schemes for selecting tests, which appear as features in the automatic classification algorithm, using preferences on costs and discomfort of the users. We test our methodology with EHRs collected for more than 3000 patients, as a part of project carried out by a reputed hospital in Mumbai, India. Kernel SVM and kernel LR with a polynomial kernel of degree 3, yields an accuracy of 99.8% and sensitivity 100%, without the MP features, i.e. using only clinical tests. We demonstrate our test selection algorithm using two case studies, one using cost of clinical tests, and other using "discomfort" values for clinical tests. We compute the test sets corresponding to the lowest false abnormals for each criterion described above, using exhaustive enumeration of 15 clinical tests. The sets turn out to different, substantiating our claim that one can customize test sets based on user preferences.
Automatic Detection of Small Groups of Persons, Influential Members, Relations and Hierarchy in Written Conversations Using Fuzzy Logic
Venue: arXiv cs.CL 2016
Year: 2016

Nowadays a lot of data is collected in online forums. One of the key tasks is to determine the social structure of these online groups, for example the identification of subgroups within a larger group. We will approach the grouping of individual as a classification problem. The classifier will be based on fuzzy logic. The input to the classifier will be linguistic features and degree of relationships (among individuals). The output of the classifiers are the groupings of individuals. We also incorporate a method that ranks the members of the detected subgroup to identify the hierarchies in each subgroup. Data from the HBO television show The Wire is used to analyze the efficacy and usefulness of fuzzy logic based methods as alternative methods to classical statistical methods usually used for these problems. The proposed methodology could detect automatically the most influential members of each organization The Wire with 90% accuracy.
Searching Scenes by Abstracting Things
Venue: arXiv cs.CV 2016
Year: 2016

In this paper we propose to represent a scene as an abstraction of 'things'. We start from 'things' as generated by modern object proposals, and we investigate their immediately observable properties: position, size, aspect ratio and color, and those only. Where the recent successes and excitement of the field lie in object identification, we represent the scene composition independent of object identities. We make three contributions in this work. First, we study simple observable properties of 'things', and call it things syntax. Second, we propose translating the things syntax in linguistic abstract statements and study their descriptive effect to retrieve scenes. Thirdly, we propose querying of scenes with abstract block illustrations and study their effectiveness to discriminate among different types of scenes. The benefit of abstract statements and block illustrations is that we generate them directly from the images, without any learning beforehand as in the standard attribute learning. Surprisingly, we show that even though we use the simplest of features from 'things' layout and no learning at all, we can still retrieve scenes reasonably well.
Epiphany-V: A 1024 processor 64-bit RISC System-On-Chip
Venue: arXiv cs.AR 2016
Year: 2016

This paper describes the design of a 1024-core processor chip in 16nm FinFet technology. The chip ("Epiphany-V") contains an array of 1024 64-bit RISC processors, 64MB of on-chip SRAM, three 136-bit wide mesh Networks-On-Chip, and 1024 programmable IO pins. The chip has taped out and is being manufactured by TSMC. This research was developed with funding from the Defense Advanced Research Projects Agency (DARPA). The views, opinions and/or findings expressed are those of the author and should not be interpreted as representing the official views or policies of the Department of Defense or the U.S. Government.
Discriminative Information Retrieval for Knowledge Discovery
Venue: arXiv cs.IR 2016
Year: 2016

We propose a framework for discriminative Information Retrieval (IR) atop linguistic features, trained to improve the recall of tasks such as answer candidate passage retrieval, the initial step in text-based Question Answering (QA). We formalize this as an instance of linear feature-based IR (Metzler and Croft, 2007), illustrating how a variety of knowledge discovery tasks are captured under this approach, leading to a 44% improvement in recall for candidate triage for QA.
Toward Automatic Understanding of the Function of Affective Language in Support Groups
Venue: arXiv cs.CL 2016
Year: 2016

Understanding expressions of emotions in support forums has considerable value and NLP methods are key to automating this. Many approaches understandably use subjective categories which are more fine-grained than a straightforward polarity-based spectrum. However, the definition of such categories is non-trivial and, in fact, we argue for a need to incorporate communicative elements even beyond subjectivity. To support our position, we report experiments on a sentiment-labelled corpus of posts taken from a medical support forum. We argue that not only is a more fine-grained approach to text analysis important, but simultaneously recognising the social function behind affective expressions enable a more accurate and valuable level of understanding.
Metaheuristic Algorithms for Convolution Neural Network
Venue: arXiv cs.CV 2016
Year: 2016

A typical modern optimization technique is usually either heuristic or metaheuristic. This technique has managed to solve some optimization problems in the research area of science, engineering, and industry. However, implementation strategy of metaheuristic for accuracy improvement on convolution neural networks (CNN), a famous deep learning method, is still rarely investigated. Deep learning relates to a type of machine learning technique, where its aim is to move closer to the goal of artificial intelligence of creating a machine that could successfully perform any intellectual tasks that can be carried out by a human. In this paper, we propose the implementation strategy of three popular metaheuristic approaches, that is, simulated annealing, differential evolution, and harmony search, to optimize CNN. The performances of these metaheuristic methods in optimizing CNN on classifying MNIST and CIFAR dataset were evaluated and compared. Furthermore, the proposed methods are also compared with the original CNN. Although the proposed methods show an increase in the computation time, their accuracy has also been improved (up to 7.14 percent).
Efficient L1-Norm Principal-Component Analysis via Bit Flipping
Venue: arXiv cs.DS 2016
Year: 2016

It was shown recently that the $K$ L1-norm principal components (L1-PCs) of a real-valued data matrix $\mathbf X \in \mathbb R^{D \times N}$ ($N$ data samples of $D$ dimensions) can be exactly calculated with cost $\mathcal{O}(2^{NK})$ or, when advantageous, $\mathcal{O}(N^{dK - K + 1})$ where $d=\mathrm{rank}(\mathbf X)$, $K<d$ [1],[2]. In applications where $\mathbf X$ is large (e.g., "big" data of large $N$ and/or "heavy" data of large $d$), these costs are prohibitive. In this work, we present a novel suboptimal algorithm for the calculation of the $K < d$ L1-PCs of $\mathbf X$ of cost $\mathcal O(ND \mathrm{min} \{ N,D\} + N^2(K^4 + dK^2) + dNK^3)$, which is comparable to that of standard (L2-norm) PC analysis. Our theoretical and experimental studies show that the proposed algorithm calculates the exact optimal L1-PCs with high frequency and achieves higher value in the L1-PC optimization metric than any known alternative algorithm of comparable computational cost. The superiority of the calculated L1-PCs over standard L2-PCs (singular vectors) in characterizing potentially faulty data/measurements is demonstrated with experiments on data dimensionality reduction and disease diagnosis from genomic data.
Battery Capacity of Deferrable Energy Demand
Venue: arXiv cs.SY 2016
Year: 2016

We investigate the ability of a homogeneous collection of deferrable energy loads to behave as a battery; that is, to absorb and release energy in a controllable fashion up to fixed and predetermined limits on volume, charge rate and discharge rate. We derive bounds on the battery capacity that can be realized and show that there are fundamental trade-offs between battery parameters. By characterizing the state trajectories under scheduling policies that emulate two illustrative batteries, we show that the trade-offs occur because the states that allow the loads to absorb and release energy at high aggregate rates are conflicting.
Quantum Game Theory for Beam Alignment in Millimeter Wave Device-to-Device Communications
Venue: arXiv cs.IT 2016
Year: 2016

In this paper, the problem of optimized beam alignment for wearable device-to-device (D2D) communications over millimeter wave (mmW) frequencies is studied. In particular, a noncooperative game is formulated between wearable communication pairs that engage in D2D communications. In this game, wearable devices acting as transmitters autonomously select the directions of their beams so as to maximize the data rate to their receivers. To solve the game, an algorithm based on best response dynamics is proposed that allows the transmitters to reach a Nash equilibrium in a distributed manner. To further improve the performance of mmW D2D communications, a novel quantum game model is formulated to enable the wearable devices to exploit new quantum directions during their beam alignment so as to further enhance their data rate. Simulation results show that the proposed game-theoretic approach improves the performance, in terms of data rate, of about 75% compared to a uniform beam alignment. The results also show that the quantum game model can further yield up to 20% improvement in data rates, relative to the classical game approach.
Sub-1-us, Sub-20-nJ Pattern Classification in a Mixed-Signal Circuit Based on Embedded 180-nm Floating-Gate Memory Cell Arrays
Venue: arXiv cs.ET 2016
Year: 2016

We have designed, fabricated, and successfully tested a prototype mixed-signal, 28x28-binary-input, 10-output, 3-layer neuromorphic network ("MLP perceptron"). It is based on embedded nonvolatile floating-gate cell arrays redesigned from a commercial 180-nm NOR flash memory. The arrays allow precise (~1%) individual tuning of all memory cells, having long-term analog-level retention and low noise. Each array performs a very fast and energy-efficient analog vector-by-matrix multiplication, which is the bottleneck for signal propagation in most neuromorphic networks. All functional components of the prototype circuit, including 2 synaptic arrays with 101,780 floating-gate synaptic cells, 74 analog neurons, and the peripheral circuitry for weight adjustment and I/O operations, have a total area below 1 mm^2. Its testing on the common MNIST benchmark set (at this stage, with a relatively low weight import precision) has shown a classification fidelity of 94.65%, close to the 96.2% obtained in simulation. The classification of one pattern takes less than 1 us time and ~20 nJ energy - both numbers much better than for digital implementations of the same task. Estimates show that this performance may be further improved using a better neuron design and a more advanced memory technology, leading to a >10^2 advantage in speed and a >10^4 advantage in energy efficiency over the state-of-the-art purely digital (GPU and custom) circuits, at classification of large, complex patterns.
Deep Reinforcement Learning From Raw Pixels in Doom
Venue: arXiv cs.LG 2016
Year: 2016

Using current reinforcement learning methods, it has recently become possible to learn to play unknown 3D games from raw pixels. In this work, we study the challenges that arise in such complex environments, and summarize current methods to approach these. We choose a task within the Doom game, that has not been approached yet. The goal for the agent is to fight enemies in a 3D world consisting of five rooms. We train the DQN and LSTM-A3C algorithms on this task. Results show that both algorithms learn sensible policies, but fail to achieve high scores given the amount of training. We provide insights into the learned behavior, which can serve as a valuable starting point for further research in the Doom domain.